void PIOS_Board_Init(void) {
/* Delay system */
PIOS_DELAY_Init();
const struct pios_board_info * bdinfo = &pios_board_info_blob;
#if defined(PIOS_INCLUDE_LED)
const struct pios_led_cfg * led_cfg = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev);
PIOS_Assert(led_cfg);
PIOS_LED_Init(led_cfg);
#endif /* PIOS_INCLUDE_LED */
/* Set up the SPI interface to the gyro/acelerometer */
if (PIOS_SPI_Init(&pios_spi_gyro_id, &pios_spi_gyro_cfg)) {
PIOS_DEBUG_Assert(0);
}
/* Set up the SPI interface to the flash and rfm22b */
if (PIOS_SPI_Init(&pios_spi_telem_flash_id, &pios_spi_telem_flash_cfg)) {
PIOS_DEBUG_Assert(0);
}
#if defined(PIOS_INCLUDE_FLASH)
/* Connect flash to the approrpiate interface and configure it */
uintptr_t flash_id;
if (PIOS_Flash_Jedec_Init(&flash_id, pios_spi_telem_flash_id, 1, &flash_m25p_cfg) != 0)
panic(1);
uintptr_t fs_id;
if (PIOS_FLASHFS_Logfs_Init(&fs_id, &flashfs_m25p_cfg, &pios_jedec_flash_driver, flash_id) != 0)
panic(1);
#endif
/* Initialize UAVObject libraries */
EventDispatcherInitialize();
UAVObjInitialize();
HwFreedomInitialize();
ModuleSettingsInitialize();
#if defined(PIOS_INCLUDE_RTC)
PIOS_RTC_Init(&pios_rtc_main_cfg);
#endif
/* Initialize the alarms library */
AlarmsInitialize();
/* Initialize the task monitor library */
TaskMonitorInitialize();
// /* Set up pulse timers */
PIOS_TIM_InitClock(&tim_1_cfg);
PIOS_TIM_InitClock(&tim_2_cfg);
PIOS_TIM_InitClock(&tim_3_cfg);
/* IAP System Setup */
PIOS_IAP_Init();
uint16_t boot_count = PIOS_IAP_ReadBootCount();
if (boot_count < 3) {
PIOS_IAP_WriteBootCount(++boot_count);
AlarmsClear(SYSTEMALARMS_ALARM_BOOTFAULT);
} else {
/* Too many failed boot attempts, force hw config to defaults */
HwFreedomSetDefaults(HwFreedomHandle(), 0);
ModuleSettingsSetDefaults(ModuleSettingsHandle(),0);
AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL);
}
PIOS_IAP_Init();
#if defined(PIOS_INCLUDE_USB)
/* Initialize board specific USB data */
PIOS_USB_BOARD_DATA_Init();
/* Flags to determine if various USB interfaces are advertised */
bool usb_hid_present = false;
bool usb_cdc_present = false;
#if defined(PIOS_INCLUDE_USB_CDC)
if (PIOS_USB_DESC_HID_CDC_Init()) {
PIOS_Assert(0);
}
usb_hid_present = true;
usb_cdc_present = true;
#else
if (PIOS_USB_DESC_HID_ONLY_Init()) {
PIOS_Assert(0);
}
usb_hid_present = true;
#endif
uint32_t pios_usb_id;
PIOS_USB_Init(&pios_usb_id, PIOS_BOARD_HW_DEFS_GetUsbCfg(bdinfo->board_rev));
#if defined(PIOS_INCLUDE_USB_CDC)
uint8_t hw_usb_vcpport;
/* Configure the USB VCP port */
HwFreedomUSB_VCPPortGet(&hw_usb_vcpport);
if (!usb_cdc_present) {
/* Force VCP port function to disabled if we haven't advertised VCP in our USB descriptor */
hw_usb_vcpport = HWFREEDOM_USB_VCPPORT_DISABLED;
}
switch (hw_usb_vcpport) {
case HWFREEDOM_USB_VCPPORT_DISABLED:
break;
case HWFREEDOM_USB_VCPPORT_USBTELEMETRY:
#if defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usb_cdc_cfg, PIOS_COM_TELEM_USB_RX_BUF_LEN, PIOS_COM_TELEM_USB_TX_BUF_LEN, &pios_usb_cdc_com_driver, &pios_com_telem_usb_id);
#endif /* PIOS_INCLUDE_COM */
break;
case HWFREEDOM_USB_VCPPORT_COMBRIDGE:
#if defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usb_cdc_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usb_cdc_com_driver, &pios_com_vcp_id);
#endif /* PIOS_INCLUDE_COM */
break;
case HWFREEDOM_USB_VCPPORT_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_COM)
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
{
uint32_t pios_usb_cdc_id;
if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) {
PIOS_Assert(0);
}
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_debug_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
NULL, 0,
tx_buffer, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
#endif /* PIOS_INCLUDE_COM */
break;
}
#endif /* PIOS_INCLUDE_USB_CDC */
#if defined(PIOS_INCLUDE_USB_HID)
/* Configure the usb HID port */
uint8_t hw_usb_hidport;
HwFreedomUSB_HIDPortGet(&hw_usb_hidport);
if (!usb_hid_present) {
/* Force HID port function to disabled if we haven't advertised HID in our USB descriptor */
hw_usb_hidport = HWFREEDOM_USB_HIDPORT_DISABLED;
}
switch (hw_usb_hidport) {
case HWFREEDOM_USB_HIDPORT_DISABLED:
break;
case HWFREEDOM_USB_HIDPORT_USBTELEMETRY:
#if defined(PIOS_INCLUDE_COM)
{
uint32_t pios_usb_hid_id;
if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) {
PIOS_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id,
rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_COM */
break;
}
#endif /* PIOS_INCLUDE_USB_HID */
if (usb_hid_present || usb_cdc_present) {
PIOS_USBHOOK_Activate();
}
#endif /* PIOS_INCLUDE_USB */
/* Configure IO ports */
uint8_t hw_DSMxBind;
HwFreedomDSMxBindGet(&hw_DSMxBind);
/* Configure FlexiPort */
uint8_t hw_mainport;
HwFreedomMainPortGet(&hw_mainport);
switch (hw_mainport) {
case HWFREEDOM_MAINPORT_DISABLED:
break;
case HWFREEDOM_MAINPORT_TELEMETRY:
PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id);
break;
break;
case HWFREEDOM_MAINPORT_GPS:
PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_GPS_RX_BUF_LEN, -1, &pios_usart_com_driver, &pios_com_gps_id);
break;
case HWFREEDOM_MAINPORT_DSM2:
case HWFREEDOM_MAINPORT_DSMX10BIT:
case HWFREEDOM_MAINPORT_DSMX11BIT:
{
enum pios_dsm_proto proto;
switch (hw_mainport) {
case HWFREEDOM_MAINPORT_DSM2:
proto = PIOS_DSM_PROTO_DSM2;
break;
case HWFREEDOM_MAINPORT_DSMX10BIT:
proto = PIOS_DSM_PROTO_DSMX10BIT;
break;
case HWFREEDOM_MAINPORT_DSMX11BIT:
proto = PIOS_DSM_PROTO_DSMX11BIT;
break;
default:
PIOS_Assert(0);
break;
}
PIOS_Board_configure_dsm(&pios_usart_dsm_main_cfg, &pios_dsm_main_cfg,
&pios_usart_com_driver, &proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT,&hw_DSMxBind);
}
break;
case HWFREEDOM_MAINPORT_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
{
PIOS_Board_configure_com(&pios_usart_main_cfg, 0, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_aux_id);
}
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
break;
case HWFREEDOM_MAINPORT_COMBRIDGE:
PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
break;
} /* hw_freedom_mainport */
/* Configure flexi USART port */
uint8_t hw_flexiport;
HwFreedomFlexiPortGet(&hw_flexiport);
switch (hw_flexiport) {
case HWFREEDOM_FLEXIPORT_DISABLED:
break;
case HWFREEDOM_FLEXIPORT_TELEMETRY:
PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id);
break;
case HWFREEDOM_FLEXIPORT_GPS:
PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_GPS_RX_BUF_LEN, -1, &pios_usart_com_driver, &pios_com_gps_id);
break;
case HWFREEDOM_FLEXIPORT_DSM2:
case HWFREEDOM_FLEXIPORT_DSMX10BIT:
case HWFREEDOM_FLEXIPORT_DSMX11BIT:
{
enum pios_dsm_proto proto;
switch (hw_flexiport) {
case HWFREEDOM_FLEXIPORT_DSM2:
proto = PIOS_DSM_PROTO_DSM2;
break;
case HWFREEDOM_FLEXIPORT_DSMX10BIT:
proto = PIOS_DSM_PROTO_DSMX10BIT;
break;
case HWFREEDOM_FLEXIPORT_DSMX11BIT:
proto = PIOS_DSM_PROTO_DSMX11BIT;
break;
default:
PIOS_Assert(0);
break;
}
//TODO: Define the various Channelgroup for Revo dsm inputs and handle here
PIOS_Board_configure_dsm(&pios_usart_dsm_flexi_cfg, &pios_dsm_flexi_cfg,
&pios_usart_com_driver, &proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMFLEXIPORT,&hw_DSMxBind);
}
break;
case HWFREEDOM_FLEXIPORT_I2C:
#if defined(PIOS_INCLUDE_I2C)
{
if (PIOS_I2C_Init(&pios_i2c_flexiport_adapter_id, &pios_i2c_flexiport_adapter_cfg)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_I2C */
case HWFREEDOM_FLEXIPORT_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
{
PIOS_Board_configure_com(&pios_usart_flexi_cfg, 0, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_aux_id);
}
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
break;
case HWFREEDOM_FLEXIPORT_COMBRIDGE:
PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
break;
} /* hw_freedom_flexiport */
/* Initalize the RFM22B radio COM device. */
#if defined(PIOS_INCLUDE_RFM22B)
uint8_t hwsettings_radioport;
HwFreedomRadioPortGet(&hwsettings_radioport);
switch (hwsettings_radioport) {
case HWFREEDOM_RADIOPORT_DISABLED:
break;
case HWFREEDOM_RADIOPORT_TELEMETRY:
{
const struct pios_board_info * bdinfo = &pios_board_info_blob;
const struct pios_rfm22b_cfg *pios_rfm22b_cfg = PIOS_BOARD_HW_DEFS_GetRfm22Cfg(bdinfo->board_rev);
if (PIOS_RFM22B_Init(&pios_rfm22b_id, PIOS_RFM22_SPI_PORT, pios_rfm22b_cfg->slave_num, pios_rfm22b_cfg)) {
PIOS_Assert(0);
}
uint8_t *rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_RFM22B_RF_RX_BUF_LEN);
uint8_t *tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_RFM22B_RF_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_rfm22b_com_driver, pios_rfm22b_id,
rx_buffer, PIOS_COM_RFM22B_RF_RX_BUF_LEN,
tx_buffer, PIOS_COM_RFM22B_RF_TX_BUF_LEN)) {
PIOS_Assert(0);
}
break;
}
}
#endif /* PIOS_INCLUDE_RFM22B */
/* Configure input receiver USART port */
uint8_t hw_rcvrport;
HwFreedomRcvrPortGet(&hw_rcvrport);
switch (hw_rcvrport) {
case HWFREEDOM_RCVRPORT_DISABLED:
break;
case HWFREEDOM_RCVRPORT_PPM:
{
uint32_t pios_ppm_id;
PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_cfg);
uint32_t pios_ppm_rcvr_id;
if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM] = pios_ppm_rcvr_id;
}
break;
case HWFREEDOM_RCVRPORT_DSM2:
case HWFREEDOM_RCVRPORT_DSMX10BIT:
case HWFREEDOM_RCVRPORT_DSMX11BIT:
{
enum pios_dsm_proto proto;
switch (hw_rcvrport) {
case HWFREEDOM_RCVRPORT_DSM2:
proto = PIOS_DSM_PROTO_DSM2;
break;
case HWFREEDOM_RCVRPORT_DSMX10BIT:
proto = PIOS_DSM_PROTO_DSMX10BIT;
break;
case HWFREEDOM_RCVRPORT_DSMX11BIT:
proto = PIOS_DSM_PROTO_DSMX11BIT;
break;
default:
PIOS_Assert(0);
break;
}
//TODO: Define the various Channelgroup for Revo dsm inputs and handle here
PIOS_Board_configure_dsm(&pios_usart_dsm_rcvr_cfg, &pios_dsm_rcvr_cfg,
&pios_usart_com_driver, &proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMFLEXIPORT,&hw_DSMxBind);
}
break;
case HWFREEDOM_RCVRPORT_SBUS:
#if defined(PIOS_INCLUDE_SBUS)
{
uint32_t pios_usart_sbus_id;
if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart_sbus_rcvr_cfg)) {
PIOS_Assert(0);
}
uint32_t pios_sbus_id;
if (PIOS_SBus_Init(&pios_sbus_id, &pios_sbus_cfg, &pios_usart_com_driver, pios_usart_sbus_id)) {
PIOS_Assert(0);
}
uint32_t pios_sbus_rcvr_id;
if (PIOS_RCVR_Init(&pios_sbus_rcvr_id, &pios_sbus_rcvr_driver, pios_sbus_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SBUS] = pios_sbus_rcvr_id;
}
#endif
break;
}
if (hw_rcvrport != HWFREEDOM_RCVRPORT_SBUS) {
GPIO_Init(pios_sbus_cfg.inv.gpio, (GPIO_InitTypeDef*)&pios_sbus_cfg.inv.init);
GPIO_WriteBit(pios_sbus_cfg.inv.gpio, pios_sbus_cfg.inv.init.GPIO_Pin, pios_sbus_cfg.gpio_inv_disable);
}
#if defined(PIOS_OVERO_SPI)
/* Set up the SPI based PIOS_COM interface to the overo */
{
bool overo_enabled = false;
#ifdef MODULE_OveroSync_BUILTIN
overo_enabled = true;
#else
uint8_t module_state[MODULESETTINGS_ADMINSTATE_NUMELEM];
ModuleSettingsAdminStateGet(module_state);
if (module_state[MODULESETTINGS_ADMINSTATE_OVEROSYNC] == MODULESETTINGS_ADMINSTATE_ENABLED) {
overo_enabled = true;
} else {
overo_enabled = false;
}
#endif
if (overo_enabled) {
if (PIOS_OVERO_Init(&pios_overo_id, &pios_overo_cfg)) {
PIOS_DEBUG_Assert(0);
}
const uint32_t PACKET_SIZE = 1024;
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PACKET_SIZE);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PACKET_SIZE);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_overo_id, &pios_overo_com_driver, pios_overo_id,
rx_buffer, PACKET_SIZE,
tx_buffer, PACKET_SIZE)) {
PIOS_Assert(0);
}
}
}
#endif
#if defined(PIOS_INCLUDE_GCSRCVR)
GCSReceiverInitialize();
uint32_t pios_gcsrcvr_id;
PIOS_GCSRCVR_Init(&pios_gcsrcvr_id);
uint32_t pios_gcsrcvr_rcvr_id;
if (PIOS_RCVR_Init(&pios_gcsrcvr_rcvr_id, &pios_gcsrcvr_rcvr_driver, pios_gcsrcvr_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_GCS] = pios_gcsrcvr_rcvr_id;
#endif /* PIOS_INCLUDE_GCSRCVR */
#ifndef PIOS_DEBUG_ENABLE_DEBUG_PINS
uint8_t hw_output_port;
HwFreedomOutputGet(&hw_output_port);
switch (hw_output_port) {
case HWFREEDOM_OUTPUT_DISABLED:
break;
case HWFREEDOM_OUTPUT_PWM:
/* Set up the servo outputs */
PIOS_Servo_Init(&pios_servo_cfg);
break;
default:
break;
}
#else
PIOS_DEBUG_Init(&pios_tim_servo_all_channels, NELEMENTS(pios_tim_servo_all_channels));
#endif
PIOS_DELAY_WaitmS(200);
PIOS_SENSORS_Init();
#if defined(PIOS_INCLUDE_MPU6000)
if (PIOS_MPU6000_Init(pios_spi_gyro_id,0, &pios_mpu6000_cfg) != 0)
panic(2);
if (PIOS_MPU6000_Test() != 0)
panic(2);
// To be safe map from UAVO enum to driver enum
uint8_t hw_gyro_range;
HwFreedomGyroRangeGet(&hw_gyro_range);
switch(hw_gyro_range) {
case HWFREEDOM_GYRORANGE_250:
PIOS_MPU6000_SetGyroRange(PIOS_MPU60X0_SCALE_250_DEG);
break;
case HWFREEDOM_GYRORANGE_500:
PIOS_MPU6000_SetGyroRange(PIOS_MPU60X0_SCALE_500_DEG);
break;
case HWFREEDOM_GYRORANGE_1000:
PIOS_MPU6000_SetGyroRange(PIOS_MPU60X0_SCALE_1000_DEG);
break;
case HWFREEDOM_GYRORANGE_2000:
PIOS_MPU6000_SetGyroRange(PIOS_MPU60X0_SCALE_2000_DEG);
break;
}
uint8_t hw_accel_range;
HwFreedomAccelRangeGet(&hw_accel_range);
switch(hw_accel_range) {
case HWFREEDOM_ACCELRANGE_2G:
PIOS_MPU6000_SetAccelRange(PIOS_MPU60X0_ACCEL_2G);
break;
case HWFREEDOM_ACCELRANGE_4G:
PIOS_MPU6000_SetAccelRange(PIOS_MPU60X0_ACCEL_4G);
break;
case HWFREEDOM_ACCELRANGE_8G:
PIOS_MPU6000_SetAccelRange(PIOS_MPU60X0_ACCEL_8G);
break;
case HWFREEDOM_ACCELRANGE_16G:
PIOS_MPU6000_SetAccelRange(PIOS_MPU60X0_ACCEL_16G);
break;
}
uint8_t hw_mpu6000_rate;
HwFreedomMPU6000RateGet(&hw_mpu6000_rate);
uint16_t hw_mpu6000_divisor = \
(hw_mpu6000_rate == HWFREEDOM_MPU6000RATE_500) ? 15 : \
(hw_mpu6000_rate == HWFREEDOM_MPU6000RATE_666) ? 11 : \
(hw_mpu6000_rate == HWFREEDOM_MPU6000RATE_1000) ? 7 : \
(hw_mpu6000_rate == HWFREEDOM_MPU6000RATE_2000) ? 3 : \
(hw_mpu6000_rate == HWFREEDOM_MPU6000RATE_4000) ? 1 : \
(hw_mpu6000_rate == HWFREEDOM_MPU6000RATE_8000) ? 0 : \
15;
PIOS_MPU6000_SetDivisor(hw_mpu6000_divisor);
uint8_t hw_dlpf;
HwFreedomMPU6000DLPFGet(&hw_dlpf);
uint16_t hw_mpu6000_dlpf = \
(hw_dlpf == HWFREEDOM_MPU6000DLPF_256) ? PIOS_MPU60X0_LOWPASS_256_HZ : \
(hw_dlpf == HWFREEDOM_MPU6000DLPF_188) ? PIOS_MPU60X0_LOWPASS_188_HZ : \
(hw_dlpf == HWFREEDOM_MPU6000DLPF_98) ? PIOS_MPU60X0_LOWPASS_98_HZ : \
(hw_dlpf == HWFREEDOM_MPU6000DLPF_42) ? PIOS_MPU60X0_LOWPASS_42_HZ : \
(hw_dlpf == HWFREEDOM_MPU6000DLPF_20) ? PIOS_MPU60X0_LOWPASS_20_HZ : \
(hw_dlpf == HWFREEDOM_MPU6000DLPF_10) ? PIOS_MPU60X0_LOWPASS_10_HZ : \
(hw_dlpf == HWFREEDOM_MPU6000DLPF_5) ? PIOS_MPU60X0_LOWPASS_5_HZ : \
PIOS_MPU60X0_LOWPASS_256_HZ;
PIOS_MPU6000_SetLPF(hw_mpu6000_dlpf);
#endif
if (PIOS_I2C_Init(&pios_i2c_mag_pressure_adapter_id, &pios_i2c_mag_pressure_adapter_cfg)) {
PIOS_DEBUG_Assert(0);
}
if (PIOS_I2C_CheckClear(pios_i2c_mag_pressure_adapter_id) != 0)
panic(5);
PIOS_DELAY_WaitmS(50);
#if defined(PIOS_INCLUDE_ADC)
PIOS_ADC_Init(&pios_adc_cfg);
#endif
PIOS_LED_On(0);
#if defined(PIOS_INCLUDE_HMC5883)
if (PIOS_HMC5883_Init(pios_i2c_mag_pressure_adapter_id, &pios_hmc5883_cfg) != 0)
panic(3);
#endif
PIOS_LED_On(1);
#if defined(PIOS_INCLUDE_MS5611)
if (PIOS_MS5611_Init(&pios_ms5611_cfg, pios_i2c_mag_pressure_adapter_id) != 0)
panic(4);
#endif
PIOS_LED_On(2);
}
void PIOS_Board_Init(void) {
/* Delay system */
PIOS_DELAY_Init();
const struct pios_board_info * bdinfo = &pios_board_info_blob;
#if defined(PIOS_INCLUDE_LED)
const struct pios_led_cfg * led_cfg = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev);
PIOS_Assert(led_cfg);
PIOS_LED_Init(led_cfg);
#endif /* PIOS_INCLUDE_LED */
/* Set up the SPI interface to the gyro/acelerometer */
if (PIOS_SPI_Init(&pios_spi_gyro_id, &pios_spi_gyro_cfg)) {
PIOS_DEBUG_Assert(0);
}
/* Set up the SPI interface to the flash and rfm22b */
if (PIOS_SPI_Init(&pios_spi_telem_flash_id, &pios_spi_telem_flash_cfg)) {
PIOS_DEBUG_Assert(0);
}
#if defined(PIOS_INCLUDE_FLASH)
/* Inititialize all flash drivers */
if (PIOS_Flash_Jedec_Init(&pios_external_flash_id, pios_spi_telem_flash_id, 1, &flash_m25p_cfg) != 0)
panic(1);
if (PIOS_Flash_Internal_Init(&pios_internal_flash_id, &flash_internal_cfg) != 0)
panic(1);
/* Register the partition table */
const struct pios_flash_partition * flash_partition_table;
uint32_t num_partitions;
flash_partition_table = PIOS_BOARD_HW_DEFS_GetPartitionTable(bdinfo->board_rev, &num_partitions);
PIOS_FLASH_register_partition_table(flash_partition_table, num_partitions);
/* Mount all filesystems */
if (PIOS_FLASHFS_Logfs_Init(&pios_uavo_settings_fs_id, &flashfs_settings_cfg, FLASH_PARTITION_LABEL_SETTINGS) != 0)
panic(1);
if (PIOS_FLASHFS_Logfs_Init(&pios_waypoints_settings_fs_id, &flashfs_waypoints_cfg, FLASH_PARTITION_LABEL_WAYPOINTS) != 0)
panic(1);
#if defined(ERASE_FLASH)
PIOS_FLASHFS_Format(pios_uavo_settings_fs_id);
#endif
#endif /* PIOS_INCLUDE_FLASH */
/* Initialize the task monitor library */
TaskMonitorInitialize();
/* Initialize UAVObject libraries */
EventDispatcherInitialize();
UAVObjInitialize();
/* Initialize the alarms library */
AlarmsInitialize();
HwFreedomInitialize();
ModuleSettingsInitialize();
#if defined(PIOS_INCLUDE_RTC)
PIOS_RTC_Init(&pios_rtc_main_cfg);
#endif
#ifndef ERASE_FLASH
/* Initialize watchdog as early as possible to catch faults during init
* but do it only if there is no debugger connected
*/
if ((CoreDebug->DHCSR & CoreDebug_DHCSR_C_DEBUGEN_Msk) == 0) {
PIOS_WDG_Init();
}
#endif
// /* Set up pulse timers */
PIOS_TIM_InitClock(&tim_1_cfg);
PIOS_TIM_InitClock(&tim_2_cfg);
PIOS_TIM_InitClock(&tim_3_cfg);
/* IAP System Setup */
PIOS_IAP_Init();
uint16_t boot_count = PIOS_IAP_ReadBootCount();
if (boot_count < 3) {
PIOS_IAP_WriteBootCount(++boot_count);
AlarmsClear(SYSTEMALARMS_ALARM_BOOTFAULT);
} else {
/* Too many failed boot attempts, force hw config to defaults */
HwFreedomSetDefaults(HwFreedomHandle(), 0);
ModuleSettingsSetDefaults(ModuleSettingsHandle(),0);
AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL);
}
PIOS_IAP_Init();
#if defined(PIOS_INCLUDE_USB)
/* Initialize board specific USB data */
PIOS_USB_BOARD_DATA_Init();
/* Flags to determine if various USB interfaces are advertised */
bool usb_hid_present = false;
bool usb_cdc_present = false;
#if defined(PIOS_INCLUDE_USB_CDC)
if (PIOS_USB_DESC_HID_CDC_Init()) {
PIOS_Assert(0);
}
usb_hid_present = true;
usb_cdc_present = true;
#else
if (PIOS_USB_DESC_HID_ONLY_Init()) {
PIOS_Assert(0);
}
usb_hid_present = true;
#endif
uintptr_t pios_usb_id;
PIOS_USB_Init(&pios_usb_id, PIOS_BOARD_HW_DEFS_GetUsbCfg(bdinfo->board_rev));
#if defined(PIOS_INCLUDE_USB_CDC)
uint8_t hw_usb_vcpport;
/* Configure the USB VCP port */
HwFreedomUSB_VCPPortGet(&hw_usb_vcpport);
if (!usb_cdc_present) {
/* Force VCP port function to disabled if we haven't advertised VCP in our USB descriptor */
hw_usb_vcpport = HWFREEDOM_USB_VCPPORT_DISABLED;
}
uintptr_t pios_usb_cdc_id;
if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) {
PIOS_Assert(0);
}
switch (hw_usb_vcpport) {
case HWFREEDOM_USB_VCPPORT_DISABLED:
break;
case HWFREEDOM_USB_VCPPORT_USBTELEMETRY:
#if defined(PIOS_INCLUDE_COM)
{
uint8_t * rx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_COM */
break;
case HWFREEDOM_USB_VCPPORT_COMBRIDGE:
#if defined(PIOS_INCLUDE_COM)
{
uint8_t * rx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_BRIDGE_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_BRIDGE_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_vcp_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
rx_buffer, PIOS_COM_BRIDGE_RX_BUF_LEN,
tx_buffer, PIOS_COM_BRIDGE_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_COM */
break;
case HWFREEDOM_USB_VCPPORT_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_COM)
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
{
uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_debug_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
NULL, 0,
tx_buffer, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
#endif /* PIOS_INCLUDE_COM */
break;
case HWFREEDOM_USB_VCPPORT_PICOC:
#if defined(PIOS_INCLUDE_COM)
{
uint8_t * rx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_PICOC_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_PICOC_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_picoc_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
rx_buffer, PIOS_COM_PICOC_RX_BUF_LEN,
tx_buffer, PIOS_COM_PICOC_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_COM */
break;
}
#endif /* PIOS_INCLUDE_USB_CDC */
#if defined(PIOS_INCLUDE_USB_HID)
/* Configure the usb HID port */
uint8_t hw_usb_hidport;
HwFreedomUSB_HIDPortGet(&hw_usb_hidport);
if (!usb_hid_present) {
/* Force HID port function to disabled if we haven't advertised HID in our USB descriptor */
hw_usb_hidport = HWFREEDOM_USB_HIDPORT_DISABLED;
}
uintptr_t pios_usb_hid_id;
if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) {
PIOS_Assert(0);
}
switch (hw_usb_hidport) {
case HWFREEDOM_USB_HIDPORT_DISABLED:
break;
case HWFREEDOM_USB_HIDPORT_USBTELEMETRY:
#if defined(PIOS_INCLUDE_COM)
{
uint8_t * rx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id,
rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_COM */
break;
}
#endif /* PIOS_INCLUDE_USB_HID */
if (usb_hid_present || usb_cdc_present) {
PIOS_USBHOOK_Activate();
}
#endif /* PIOS_INCLUDE_USB */
/* Configure IO ports */
uint8_t hw_DSMxBind;
HwFreedomDSMxBindGet(&hw_DSMxBind);
/* Configure FlexiPort */
uint8_t hw_mainport;
HwFreedomMainPortGet(&hw_mainport);
switch (hw_mainport) {
case HWFREEDOM_MAINPORT_DISABLED:
break;
case HWFREEDOM_MAINPORT_TELEMETRY:
PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id);
break;
case HWFREEDOM_MAINPORT_GPS:
PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_GPS_RX_BUF_LEN, PIOS_COM_GPS_RX_BUF_LEN, &pios_usart_com_driver, &pios_com_gps_id);
break;
case HWFREEDOM_MAINPORT_DSM:
#if defined(PIOS_INCLUDE_DSM)
{
PIOS_Board_configure_dsm(&pios_usart_dsm_hsum_main_cfg, &pios_dsm_main_cfg,
&pios_usart_com_driver, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT,&hw_DSMxBind);
}
#endif /* PIOS_INCLUDE_DSM */
break;
case HWFREEDOM_MAINPORT_HOTTSUMD:
case HWFREEDOM_MAINPORT_HOTTSUMH:
#if defined(PIOS_INCLUDE_HSUM)
{
enum pios_hsum_proto proto;
switch (hw_mainport) {
case HWFREEDOM_MAINPORT_HOTTSUMD:
proto = PIOS_HSUM_PROTO_SUMD;
break;
case HWFREEDOM_MAINPORT_HOTTSUMH:
proto = PIOS_HSUM_PROTO_SUMH;
break;
default:
PIOS_Assert(0);
break;
}
PIOS_Board_configure_hsum(&pios_usart_dsm_hsum_main_cfg, &pios_usart_com_driver, &proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_HOTTSUM);
}
#endif /* PIOS_INCLUDE_HSUM */
break;
case HWFREEDOM_MAINPORT_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
{
PIOS_Board_configure_com(&pios_usart_main_cfg, 0, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_debug_id);
}
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
break;
case HWFREEDOM_MAINPORT_COMBRIDGE:
PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
break;
case HWFREEDOM_MAINPORT_MAVLINKTX:
#if defined(PIOS_INCLUDE_MAVLINK)
PIOS_Board_configure_com(&pios_usart_main_cfg, 0, PIOS_COM_MAVLINK_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_mavlink_id);
#endif /* PIOS_INCLUDE_MAVLINK */
break;
case HWFREEDOM_MAINPORT_MAVLINKTX_GPS_RX:
#if defined(PIOS_INCLUDE_GPS)
#if defined(PIOS_INCLUDE_MAVLINK)
PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_GPS_RX_BUF_LEN, PIOS_COM_MAVLINK_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_gps_id);
pios_com_mavlink_id = pios_com_gps_id;
#endif /* PIOS_INCLUDE_MAVLINK */
#endif /* PIOS_INCLUDE_GPS */
break;
case HWFREEDOM_MAINPORT_HOTTTELEMETRY:
#if defined(PIOS_INCLUDE_HOTT) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_HOTT_RX_BUF_LEN, PIOS_COM_HOTT_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_hott_id);
#endif /* PIOS_INCLUDE_HOTT */
break;
case HWFREEDOM_MAINPORT_FRSKYSENSORHUB:
#if defined(PIOS_INCLUDE_FRSKY_SENSOR_HUB) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart_main_cfg, 0, PIOS_COM_FRSKYSENSORHUB_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_frsky_sensor_hub_id);
#endif /* PIOS_INCLUDE_FRSKY_SENSOR_HUB */
break;
case HWFREEDOM_MAINPORT_LIGHTTELEMETRYTX:
#if defined(PIOS_INCLUDE_LIGHTTELEMETRY)
PIOS_Board_configure_com(&pios_usart_main_cfg, 0, PIOS_COM_LIGHTTELEMETRY_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_lighttelemetry_id);
#endif
break;
case HWFREEDOM_MAINPORT_PICOC:
#if defined(PIOS_INCLUDE_PICOC) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_PICOC_RX_BUF_LEN, PIOS_COM_PICOC_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_picoc_id);
#endif /* PIOS_INCLUDE_PICOC */
break;
case HWFREEDOM_MAINPORT_FRSKYSPORTTELEMETRY:
#if defined(PIOS_INCLUDE_FRSKY_SPORT_TELEMETRY) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_FRSKYSPORT_RX_BUF_LEN, PIOS_COM_FRSKYSPORT_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_frsky_sport_id);
#endif /* PIOS_INCLUDE_FRSKY_SPORT_TELEMETRY */
break;
} /* hw_freedom_mainport */
/* Configure flexi USART port */
uint8_t hw_flexiport;
HwFreedomFlexiPortGet(&hw_flexiport);
switch (hw_flexiport) {
case HWFREEDOM_FLEXIPORT_DISABLED:
break;
case HWFREEDOM_FLEXIPORT_TELEMETRY:
PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id);
break;
case HWFREEDOM_FLEXIPORT_GPS:
PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_GPS_RX_BUF_LEN, PIOS_COM_GPS_RX_BUF_LEN, &pios_usart_com_driver, &pios_com_gps_id);
break;
case HWFREEDOM_FLEXIPORT_DSM:
#if defined(PIOS_INCLUDE_DSM)
{
//TODO: Define the various Channelgroup for Revo dsm inputs and handle here
PIOS_Board_configure_dsm(&pios_usart_dsm_hsum_flexi_cfg, &pios_dsm_flexi_cfg,
&pios_usart_com_driver, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMFLEXIPORT,&hw_DSMxBind);
}
#endif /* PIOS_INCLUDE_DSM */
break;
case HWFREEDOM_FLEXIPORT_HOTTSUMD:
case HWFREEDOM_FLEXIPORT_HOTTSUMH:
#if defined(PIOS_INCLUDE_HSUM)
{
enum pios_hsum_proto proto;
switch (hw_flexiport) {
case HWFREEDOM_FLEXIPORT_HOTTSUMD:
proto = PIOS_HSUM_PROTO_SUMD;
break;
case HWFREEDOM_FLEXIPORT_HOTTSUMH:
proto = PIOS_HSUM_PROTO_SUMH;
break;
default:
PIOS_Assert(0);
break;
}
PIOS_Board_configure_hsum(&pios_usart_dsm_hsum_flexi_cfg, &pios_usart_com_driver, &proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_HOTTSUM);
}
#endif /* PIOS_INCLUDE_HSUM */
break;
case HWFREEDOM_FLEXIPORT_I2C:
#if defined(PIOS_INCLUDE_I2C)
{
if (PIOS_I2C_Init(&pios_i2c_flexiport_adapter_id, &pios_i2c_flexiport_adapter_cfg)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_I2C */
break;
case HWFREEDOM_FLEXIPORT_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
{
PIOS_Board_configure_com(&pios_usart_flexi_cfg, 0, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_debug_id);
}
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
break;
case HWFREEDOM_FLEXIPORT_COMBRIDGE:
PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
break;
case HWFREEDOM_FLEXIPORT_MAVLINKTX:
#if defined(PIOS_INCLUDE_MAVLINK)
PIOS_Board_configure_com(&pios_usart_flexi_cfg, 0, PIOS_COM_MAVLINK_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_mavlink_id);
#endif /* PIOS_INCLUDE_MAVLINK */
break;
case HWFREEDOM_FLEXIPORT_MAVLINKTX_GPS_RX:
#if defined(PIOS_INCLUDE_GPS)
#if defined(PIOS_INCLUDE_MAVLINK)
PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_GPS_RX_BUF_LEN, PIOS_COM_MAVLINK_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_gps_id);
pios_com_mavlink_id = pios_com_gps_id;
#endif /* PIOS_INCLUDE_MAVLINK */
#endif /* PIOS_INCLUDE_GPS */
break;
case HWFREEDOM_FLEXIPORT_HOTTTELEMETRY:
#if defined(PIOS_INCLUDE_HOTT) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_HOTT_RX_BUF_LEN, PIOS_COM_HOTT_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_hott_id);
#endif /* PIOS_INCLUDE_HOTT */
break;
case HWFREEDOM_FLEXIPORT_FRSKYSENSORHUB:
#if defined(PIOS_INCLUDE_FRSKY_SENSOR_HUB) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart_flexi_cfg, 0, PIOS_COM_FRSKYSENSORHUB_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_frsky_sensor_hub_id);
#endif /* PIOS_INCLUDE_FRSKY_SENSOR_HUB */
break;
case HWFREEDOM_FLEXIPORT_LIGHTTELEMETRYTX:
#if defined(PIOS_INCLUDE_LIGHTTELEMETRY)
PIOS_Board_configure_com(&pios_usart_flexi_cfg, 0, PIOS_COM_LIGHTTELEMETRY_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_lighttelemetry_id);
#endif
break;
case HWFREEDOM_FLEXIPORT_PICOC:
#if defined(PIOS_INCLUDE_PICOC) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_PICOC_RX_BUF_LEN, PIOS_COM_PICOC_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_picoc_id);
#endif /* PIOS_INCLUDE_PICOC */
break;
case HWFREEDOM_FLEXIPORT_FRSKYSPORTTELEMETRY:
#if defined(PIOS_INCLUDE_FRSKY_SPORT_TELEMETRY) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_FRSKYSPORT_RX_BUF_LEN, PIOS_COM_FRSKYSPORT_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_frsky_sport_id);
#endif /* PIOS_INCLUDE_FRSKY_SPORT_TELEMETRY */
break;
} /* hw_freedom_flexiport */
/* Initalize the RFM22B radio COM device. */
#if defined(PIOS_INCLUDE_RFM22B)
RFM22BStatusInitialize();
RFM22BStatusCreateInstance();
// Initialize out status object.
RFM22BStatusData rfm22bstatus;
RFM22BStatusGet(&rfm22bstatus);
RFM22BStatusInstSet(1,&rfm22bstatus);
HwFreedomData hwFreedom;
HwFreedomGet(&hwFreedom);
// Initialize out status object.
rfm22bstatus.BoardType = bdinfo->board_type;
rfm22bstatus.BoardRevision = bdinfo->board_rev;
if (hwFreedom.Radio == HWFREEDOM_RADIO_DISABLED || hwFreedom.MaxRfPower == HWFREEDOM_MAXRFPOWER_0) {
// When radio disabled, it is ok for init to fail. This allows boards without populating
// this component.
const struct pios_rfm22b_cfg *rfm22b_cfg = PIOS_BOARD_HW_DEFS_GetRfm22Cfg(bdinfo->board_rev);
if (PIOS_RFM22B_Init(&pios_rfm22b_id, PIOS_RFM22_SPI_PORT, rfm22b_cfg->slave_num, rfm22b_cfg) == 0) {
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_0);
rfm22bstatus.DeviceID = PIOS_RFM22B_DeviceID(pios_rfm22b_id);
rfm22bstatus.BoardRevision = PIOS_RFM22B_ModuleVersion(pios_rfm22b_id);
} else {
pios_rfm22b_id = 0;
}
rfm22bstatus.LinkState = RFM22BSTATUS_LINKSTATE_DISABLED;
} else {
// always allow receiving PPM when radio is on
bool ppm_mode = hwFreedom.Radio == HWFREEDOM_RADIO_TELEMPPM || hwFreedom.Radio == HWFREEDOM_RADIO_PPM;
bool ppm_only = hwFreedom.Radio == HWFREEDOM_RADIO_PPM;
bool is_oneway = hwFreedom.Radio == HWFREEDOM_RADIO_PPM; // Sparky2 can only receive PPM only
/* Configure the RFM22B device. */
const struct pios_rfm22b_cfg *rfm22b_cfg = PIOS_BOARD_HW_DEFS_GetRfm22Cfg(bdinfo->board_rev);
if (PIOS_RFM22B_Init(&pios_rfm22b_id, PIOS_RFM22_SPI_PORT, rfm22b_cfg->slave_num, rfm22b_cfg)) {
panic(6);
}
rfm22bstatus.DeviceID = PIOS_RFM22B_DeviceID(pios_rfm22b_id);
rfm22bstatus.BoardRevision = PIOS_RFM22B_ModuleVersion(pios_rfm22b_id);
/* Configure the radio com interface */
uint8_t *rx_buffer = (uint8_t *)PIOS_malloc(PIOS_COM_RFM22B_RF_RX_BUF_LEN);
uint8_t *tx_buffer = (uint8_t *)PIOS_malloc(PIOS_COM_RFM22B_RF_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_rf_id, &pios_rfm22b_com_driver, pios_rfm22b_id,
rx_buffer, PIOS_COM_RFM22B_RF_RX_BUF_LEN,
tx_buffer, PIOS_COM_RFM22B_RF_TX_BUF_LEN)) {
panic(6);
}
/* Set Telemetry to use RFM22b if no other telemetry is configured (USB always overrides anyway) */
if (!pios_com_telem_rf_id) {
pios_com_telem_rf_id = pios_com_rf_id;
}
rfm22bstatus.LinkState = RFM22BSTATUS_LINKSTATE_ENABLED;
enum rfm22b_datarate datarate = RFM22_datarate_64000;
switch (hwFreedom.MaxRfSpeed) {
case HWFREEDOM_MAXRFSPEED_9600:
datarate = RFM22_datarate_9600;
break;
case HWFREEDOM_MAXRFSPEED_19200:
datarate = RFM22_datarate_19200;
break;
case HWFREEDOM_MAXRFSPEED_32000:
datarate = RFM22_datarate_32000;
break;
case HWFREEDOM_MAXRFSPEED_64000:
datarate = RFM22_datarate_64000;
break;
case HWFREEDOM_MAXRFSPEED_100000:
datarate = RFM22_datarate_100000;
break;
case HWFREEDOM_MAXRFSPEED_192000:
datarate = RFM22_datarate_192000;
break;
}
/* Set the radio configuration parameters. */
PIOS_RFM22B_Config(pios_rfm22b_id, datarate, hwFreedom.MinChannel, hwFreedom.MaxChannel, hwFreedom.CoordID, is_oneway, ppm_mode, ppm_only);
/* Set the modem Tx poer level */
switch (hwFreedom.MaxRfPower) {
case HWFREEDOM_MAXRFPOWER_125:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_0);
break;
case HWFREEDOM_MAXRFPOWER_16:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_1);
break;
case HWFREEDOM_MAXRFPOWER_316:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_2);
break;
case HWFREEDOM_MAXRFPOWER_63:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_3);
break;
case HWFREEDOM_MAXRFPOWER_126:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_4);
break;
case HWFREEDOM_MAXRFPOWER_25:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_5);
break;
case HWFREEDOM_MAXRFPOWER_50:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_6);
break;
case HWFREEDOM_MAXRFPOWER_100:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_7);
break;
default:
// do nothing
break;
}
/* Reinitialize the modem. */
PIOS_RFM22B_Reinit(pios_rfm22b_id);
#if defined(PIOS_INCLUDE_RFM22B_RCVR)
{
uintptr_t pios_rfm22brcvr_id;
PIOS_RFM22B_Rcvr_Init(&pios_rfm22brcvr_id, pios_rfm22b_id);
uintptr_t pios_rfm22brcvr_rcvr_id;
if (PIOS_RCVR_Init(&pios_rfm22brcvr_rcvr_id, &pios_rfm22b_rcvr_driver, pios_rfm22brcvr_id)) {
panic(6);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_RFM22B] = pios_rfm22brcvr_rcvr_id;
}
}
RFM22BStatusInstSet(1,&rfm22bstatus);
#endif /* PIOS_INCLUDE_RFM22B_RCVR */
#endif /* PIOS_INCLUDE_RFM22B */
PIOS_WDG_Clear();
/* Configure input receiver USART port */
uint8_t hw_rcvrport;
HwFreedomRcvrPortGet(&hw_rcvrport);
switch (hw_rcvrport) {
case HWFREEDOM_RCVRPORT_DISABLED:
break;
case HWFREEDOM_RCVRPORT_PPM:
{
uintptr_t pios_ppm_id;
PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_cfg);
uintptr_t pios_ppm_rcvr_id;
if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM] = pios_ppm_rcvr_id;
}
break;
case HWFREEDOM_RCVRPORT_DSM:
#if defined(PIOS_INCLUDE_DSM)
{
//TODO: Define the various Channelgroup for Revo dsm inputs and handle here
PIOS_Board_configure_dsm(&pios_usart_dsm_hsum_rcvr_cfg, &pios_dsm_rcvr_cfg,
&pios_usart_com_driver, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMRCVRPORT,&hw_DSMxBind);
}
#endif /* PIOS_INCLUDE_DSM */
break;
case HWFREEDOM_RCVRPORT_HOTTSUMD:
case HWFREEDOM_RCVRPORT_HOTTSUMH:
#if defined(PIOS_INCLUDE_HSUM)
{
enum pios_hsum_proto proto;
switch (hw_rcvrport) {
case HWFREEDOM_RCVRPORT_HOTTSUMD:
proto = PIOS_HSUM_PROTO_SUMD;
break;
case HWFREEDOM_RCVRPORT_HOTTSUMH:
proto = PIOS_HSUM_PROTO_SUMH;
break;
default:
PIOS_Assert(0);
break;
}
PIOS_Board_configure_hsum(&pios_usart_dsm_hsum_rcvr_cfg, &pios_usart_com_driver, &proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_HOTTSUM);
}
#endif /* PIOS_INCLUDE_HSUM */
break;
case HWFREEDOM_RCVRPORT_SBUS:
#if defined(PIOS_INCLUDE_SBUS)
{
uintptr_t pios_usart_sbus_id;
if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart_sbus_rcvr_cfg)) {
PIOS_Assert(0);
}
uintptr_t pios_sbus_id;
if (PIOS_SBus_Init(&pios_sbus_id, &pios_sbus_cfg, &pios_usart_com_driver, pios_usart_sbus_id)) {
PIOS_Assert(0);
}
uintptr_t pios_sbus_rcvr_id;
if (PIOS_RCVR_Init(&pios_sbus_rcvr_id, &pios_sbus_rcvr_driver, pios_sbus_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SBUS] = pios_sbus_rcvr_id;
}
#endif
break;
}
if (hw_rcvrport != HWFREEDOM_RCVRPORT_SBUS) {
GPIO_Init(pios_sbus_cfg.inv.gpio, (GPIO_InitTypeDef*)&pios_sbus_cfg.inv.init);
GPIO_WriteBit(pios_sbus_cfg.inv.gpio, pios_sbus_cfg.inv.init.GPIO_Pin, pios_sbus_cfg.gpio_inv_disable);
}
#if defined(PIOS_OVERO_SPI)
/* Set up the SPI based PIOS_COM interface to the overo */
{
bool overo_enabled = false;
#ifdef MODULE_OveroSync_BUILTIN
overo_enabled = true;
#else
uint8_t module_state[MODULESETTINGS_ADMINSTATE_NUMELEM];
ModuleSettingsAdminStateGet(module_state);
if (module_state[MODULESETTINGS_ADMINSTATE_OVEROSYNC] == MODULESETTINGS_ADMINSTATE_ENABLED) {
overo_enabled = true;
} else {
overo_enabled = false;
}
#endif
if (overo_enabled) {
if (PIOS_OVERO_Init(&pios_overo_id, &pios_overo_cfg)) {
PIOS_DEBUG_Assert(0);
}
const uint32_t PACKET_SIZE = 1024;
uint8_t * rx_buffer = (uint8_t *) PIOS_malloc(PACKET_SIZE);
uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(PACKET_SIZE);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_overo_id, &pios_overo_com_driver, pios_overo_id,
rx_buffer, PACKET_SIZE,
tx_buffer, PACKET_SIZE)) {
PIOS_Assert(0);
}
}
}
#endif
#if defined(PIOS_INCLUDE_GCSRCVR)
GCSReceiverInitialize();
uintptr_t pios_gcsrcvr_id;
PIOS_GCSRCVR_Init(&pios_gcsrcvr_id);
uintptr_t pios_gcsrcvr_rcvr_id;
if (PIOS_RCVR_Init(&pios_gcsrcvr_rcvr_id, &pios_gcsrcvr_rcvr_driver, pios_gcsrcvr_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_GCS] = pios_gcsrcvr_rcvr_id;
#endif /* PIOS_INCLUDE_GCSRCVR */
#ifndef PIOS_DEBUG_ENABLE_DEBUG_PINS
uint8_t hw_output_port;
HwFreedomOutputGet(&hw_output_port);
switch (hw_output_port) {
case HWFREEDOM_OUTPUT_DISABLED:
break;
case HWFREEDOM_OUTPUT_PWM:
/* Set up the servo outputs */
PIOS_Servo_Init(&pios_servo_cfg);
break;
default:
break;
}
#else
PIOS_DEBUG_Init(&pios_tim_servo_all_channels, NELEMENTS(pios_tim_servo_all_channels));
#endif
PIOS_DELAY_WaitmS(200);
PIOS_SENSORS_Init();
#if defined(PIOS_INCLUDE_MPU6000)
if (PIOS_MPU6000_Init(pios_spi_gyro_id,0, &pios_mpu6000_cfg) != 0)
panic(2);
if (PIOS_MPU6000_Test() != 0)
panic(2);
// To be safe map from UAVO enum to driver enum
uint8_t hw_gyro_range;
HwFreedomGyroRangeGet(&hw_gyro_range);
switch(hw_gyro_range) {
case HWFREEDOM_GYRORANGE_250:
PIOS_MPU6000_SetGyroRange(PIOS_MPU60X0_SCALE_250_DEG);
break;
case HWFREEDOM_GYRORANGE_500:
PIOS_MPU6000_SetGyroRange(PIOS_MPU60X0_SCALE_500_DEG);
break;
case HWFREEDOM_GYRORANGE_1000:
PIOS_MPU6000_SetGyroRange(PIOS_MPU60X0_SCALE_1000_DEG);
break;
case HWFREEDOM_GYRORANGE_2000:
PIOS_MPU6000_SetGyroRange(PIOS_MPU60X0_SCALE_2000_DEG);
break;
}
uint8_t hw_accel_range;
HwFreedomAccelRangeGet(&hw_accel_range);
switch(hw_accel_range) {
case HWFREEDOM_ACCELRANGE_2G:
PIOS_MPU6000_SetAccelRange(PIOS_MPU60X0_ACCEL_2G);
break;
case HWFREEDOM_ACCELRANGE_4G:
PIOS_MPU6000_SetAccelRange(PIOS_MPU60X0_ACCEL_4G);
break;
case HWFREEDOM_ACCELRANGE_8G:
PIOS_MPU6000_SetAccelRange(PIOS_MPU60X0_ACCEL_8G);
break;
case HWFREEDOM_ACCELRANGE_16G:
PIOS_MPU6000_SetAccelRange(PIOS_MPU60X0_ACCEL_16G);
break;
}
// the filter has to be set before rate else divisor calculation will fail
uint8_t hw_mpu6000_dlpf;
HwFreedomMPU6000DLPFGet(&hw_mpu6000_dlpf);
enum pios_mpu60x0_filter mpu6000_dlpf = \
(hw_mpu6000_dlpf == HWFREEDOM_MPU6000DLPF_256) ? PIOS_MPU60X0_LOWPASS_256_HZ : \
(hw_mpu6000_dlpf == HWFREEDOM_MPU6000DLPF_188) ? PIOS_MPU60X0_LOWPASS_188_HZ : \
(hw_mpu6000_dlpf == HWFREEDOM_MPU6000DLPF_98) ? PIOS_MPU60X0_LOWPASS_98_HZ : \
(hw_mpu6000_dlpf == HWFREEDOM_MPU6000DLPF_42) ? PIOS_MPU60X0_LOWPASS_42_HZ : \
(hw_mpu6000_dlpf == HWFREEDOM_MPU6000DLPF_20) ? PIOS_MPU60X0_LOWPASS_20_HZ : \
(hw_mpu6000_dlpf == HWFREEDOM_MPU6000DLPF_10) ? PIOS_MPU60X0_LOWPASS_10_HZ : \
(hw_mpu6000_dlpf == HWFREEDOM_MPU6000DLPF_5) ? PIOS_MPU60X0_LOWPASS_5_HZ : \
pios_mpu6000_cfg.default_filter;
PIOS_MPU6000_SetLPF(mpu6000_dlpf);
uint8_t hw_mpu6000_samplerate;
HwFreedomMPU6000RateGet(&hw_mpu6000_samplerate);
uint16_t mpu6000_samplerate = \
(hw_mpu6000_samplerate == HWFREEDOM_MPU6000RATE_200) ? 200 : \
(hw_mpu6000_samplerate == HWFREEDOM_MPU6000RATE_333) ? 333 : \
(hw_mpu6000_samplerate == HWFREEDOM_MPU6000RATE_500) ? 500 : \
(hw_mpu6000_samplerate == HWFREEDOM_MPU6000RATE_666) ? 666 : \
(hw_mpu6000_samplerate == HWFREEDOM_MPU6000RATE_1000) ? 1000 : \
(hw_mpu6000_samplerate == HWFREEDOM_MPU6000RATE_2000) ? 2000 : \
(hw_mpu6000_samplerate == HWFREEDOM_MPU6000RATE_4000) ? 4000 : \
(hw_mpu6000_samplerate == HWFREEDOM_MPU6000RATE_8000) ? 8000 : \
pios_mpu6000_cfg.default_samplerate;
PIOS_MPU6000_SetSampleRate(mpu6000_samplerate);
#endif
if (PIOS_I2C_Init(&pios_i2c_mag_pressure_adapter_id, &pios_i2c_mag_pressure_adapter_cfg)) {
PIOS_DEBUG_Assert(0);
}
if (PIOS_I2C_CheckClear(pios_i2c_mag_pressure_adapter_id) != 0)
panic(5);
PIOS_DELAY_WaitmS(50);
#if defined(PIOS_INCLUDE_ADC)
uint32_t internal_adc_id;
PIOS_INTERNAL_ADC_Init(&internal_adc_id, &pios_adc_cfg);
PIOS_ADC_Init(&pios_internal_adc_id, &pios_internal_adc_driver, internal_adc_id);
#endif
PIOS_LED_On(0);
#if defined(PIOS_INCLUDE_HMC5883)
if (PIOS_HMC5883_Init(pios_i2c_mag_pressure_adapter_id, &pios_hmc5883_cfg) != 0)
panic(3);
#endif
PIOS_LED_On(1);
#if defined(PIOS_INCLUDE_MS5611)
if (PIOS_MS5611_Init(&pios_ms5611_cfg, pios_i2c_mag_pressure_adapter_id) != 0)
panic(4);
#endif
PIOS_LED_On(2);
}